Autonomous Material Loading Paths to Prevent Pile Splitting

Solution Overview

Problem

Existing systems for loading material from a pile often result in the pile being divided into multiple isolated piles, leading to inefficiencies and material loss, as they lack effective methods for determining optimal loading paths and directions, resulting in spread-out material that is difficult to capture.

Innovation Solution

An at least partially autonomous machine equipped with sensors and a controller that determines the midpoint of a material pile, identifies potential loading paths, and selects a primary path based on a cost function analysis to perform loading efficiently, thereby minimizing material loss and optimizing the loading process.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Extent of automation

If autonomous systems use shortest path or arbitrary point methods to determine loading paths, then the machine can operate autonomously, but the pile is divided into multiple isolated piles causing material loss

Engineering Contradiction:

Improveautonomous loading operationVSAvoidmaterial loss

Core Design Contradiction:

Extent of automationVSLoss of substance

Solution Approach 1:

The system performs preliminary sensing of the pile's outer surface and midpoint determination before executing loading operations. By pre-calculating the optimal loading path that passes through or near the midpoint, the system prevents the pile from being divided into isolated sections, thereby reducing material loss while maintaining autonomous operation

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system changes the decision-making parameter from arbitrary points or simple shortest paths to midpoint-based optimal paths. This parameter change ensures that loading operations converge toward the center of the pile, preventing material spread and loss while maintaining automation

Inventive Principle:

Principle #35Parameter changes

2Device complexity

If loading paths are determined without midpoint consideration, then the operation is simpler, but material is spread across larger area reducing capture efficiency

Engineering Contradiction:

Improvepath determination complexityVSAvoidmaterial capture efficiency

Core Design Contradiction:

Device complexityVSProductivity

Solution Approach 1:

The system performs preliminary sensing of the pile's outer surface and midpoint determination before executing loading operations. By pre-calculating the optimal loading path that passes through or near the midpoint, the system prevents the pile from being divided into isolated sections, thereby reducing material loss while maintaining autonomous operation

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system changes the decision-making parameter from arbitrary points or simple shortest paths to midpoint-based optimal paths. This parameter change ensures that loading operations converge toward the center of the pile, preventing material spread and loss while maintaining automation

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS11378964B2Systems and methods for autonomous movement of material

Publication Date: 2022.07.05 CATERPILLAR INC

AI summary

A method includes sensing, with a sensor, an outer surface of a pile of material, with a controller located on an at least partially autonomously-controlled machine, a midpoint of the pile of material based on the sensed outer surface; determining, with the controller, a plurality of potential loading paths around the midpoint for loading the machine; selecting, with the controller, a primary loading path of the potential loading paths based on a cost function analysis, and causing, with the controller, the machine to perform a loading instance as defined by the primary loading path.